Intersection safety using lidar and stereo vision sensors

Abstract

Abstract-In this paper, we describe our approach for intersection safety developed in the scope of the European project INTERSAFE-2. A complete solution for the safety problem including the tasks of perception and risk assessment using on-board lidar and stereo-vision sensors will be presented and interesting results are shown. I. INTRODUCTIONAbout 30% to 60% (depending on the country) of all injury accidents and about 16% to 36% of the fatalities are intersection related. In addition, accident scenarios at intersections are amongst the most complex (different type of road users, various orientations and speeds).The INTERSAFE-2 project 1 aims to develop and demonstrate a Cooperative Intersection Safety System (CISS) that is able to significantly reduce injury and fatal accidents at intersections. Vehicles equipped with communication means and onboard sensor systems cooperate with the road side infrastructure in order to achieve a comprehensive system that contributes to the EU-25 and zero accident vision as well as to a significant improvement of efficiency in traffic flow and thus reduce fuel consumption in urban areas. By networking state-of-the-art technologies for sensors, infrastructure systems, communications, digital map contents and new accurate positioning techniques, INTERSAFE-2 aims to bring Intersection Safety Systems much closer to market introduction. This paper aims to detail the technical solution developed on the Volkswagen demonstrator of the project. This solution takes as inputs raw data from a lidar and a stereo-vision system and delivers as an output a level of risk between the host vehicle and other entities present at the intersection. This paper is a joint paper between: INRIA Rocquencourt (France), Technical University of Cluj (Romania) and University of Grenoble1 (France).The rest of the paper is organized as follows. In the next section, we present the demonstrator used for this work and sensors installed on it. We summarize the software architecture in section III. In sections IV & V we present the sensor processing of lidar and stereo-vision. In section VI and VII, we detail our work on fusion and tracking. The Risk 1 http://www.intersafe-2.eu II. EXPERIMENTAL SETUPThe demonstrator vehicle used to get datasets for this work has multiple sensors installed on it. It has a long range laser scanner with a field of view of 160• and a maximum range of 150m. Other sensors installed on this demonstrator include a stereo vision camera, four short range radars (SRR) one at each corner of the vehicle and a long range radar (LRR) in front of the vehicle (Figure 1). Our work presented in this paper is only concerned with the processing and fusion of lidar and stereo vision data. Figure 2 illustrates the software architecture of the system. This architecture is composed of 5 modules: III. SOFTWARE ARCHITECTURE1) The lidar data processing module which takes as input the raw data provided by the laser scanner and delivers (i) an estimation of the position of the host vehicle in the intersection an...

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